JPS6345345B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automobile door opening device for opening a side door of an automobile in an automobile manufacturing line.

Generally, in automobile manufacturing lines, such as painting lines and assembly lines, it is often necessary to perform painting or assembly with the side doors of the automobile open.

Conventionally, for example, in topcoating, which is the final painting process of an automobile body, when an automated device that automatically opens a side door is installed to apply a topcoat to the inside of the automobile body, there is no possibility that the vehicle will come close to or come into contact with the outside of the side door. There is a risk of dust adhesion, and it is difficult to open the side door in time with the conveyor.
There have been problems such as difficulty in responding to misalignment of the vehicle body, and the possibility of distortion of the side door or the vehicle body when the side door is fully opened.

For this reason, in the top coating process of an automobile body, as shown in FIG.
In the exterior panel painting zone 12, the exterior panels are painted by the painting robots 14, 14 with the side doors 13,..., 13 closed, and then the automobile body 11 is sent to the door opening zone 15 and the side doors Workers 16, 16 manually open the doors 13, ......, 13, send the car body 11 to the next inner surface painting zone 17, and paint the painting robot 1.
8 and 18, the inner surface of the automobile body 12 was painted.

However, on the automobile production line,
Although automation is achieved by using painting robots 14, 14 and 18, 18 as described above for painting, and assembly robots for assembling the automobile body 11, the side door 13 ,…
. . , 13 had to be opened manually, which became a bottleneck for labor saving and automation in automobile manufacturing lines.

The present invention has been made in view of the above-mentioned problems of the conventional art, and includes a method of engaging a pawl in a lower engagement position on the inside of a side door of an automobile and displacing the pawl in the opening direction of the side door. , an automobile door opening device that uses the lower part of the inside of the side door, which has fewer problems with the finish of the automobile as a product, and allows the side door to be opened reliably without causing paint scratches or distortions on the side door, etc. is intended to provide.

For this reason, the present invention provides a vehicle having side doors mounted on the floor surface on the side of a conveyor line for continuous movement, relative to the direction of movement of the vehicle.
A truck that is movable in a direction that makes an angle smaller than 90 degrees, and a car that is rotatably installed on the truck and that is switched from sideways to upward by a rotary actuator and moves in a half-opened state. a swinging arm having an engageable sliding claw at the tip thereof, and a swinging arm for swinging the swinging arm to swing the claw to the engagement position at the bottom of the side door. The present invention is characterized by comprising a dynamic actuator and a cart moving actuator that moves the cart in a state where the claw of the swing arm is engaged with the engagement position.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An automobile door opening device used in an automobile painting line will be specifically described below with reference to the drawings.

As shown in FIG. 2, on an automobile conveyor line in a painting line, automobile bodies 23, . . . , 23 having side doors 22, . It is equipped with a conveyor 24 that carries the conveyors at intervals of 1,000,000 and moves them continuously in one direction.

As shown in FIG. 3, for example, the conveyor 24 includes rails 25, 25, which have a U-shaped cross section and are laid in the flow direction of the painting line, and these rails 25, 2.
Car body tower mounting dolly 26 guided by 5
and a chain 27 for pulling the vehicle body mounting dolly 26, and the vehicle body 23 is transferred to the painting line with its side doors 23, . . . , 23 half open.

For the conveyor 24, as shown in FIG. A painting room 30 in the form of a closed room is formed with an entrance 28 and an exit 29 through which people can go in and out.

In front of the entrance 28 of the painting room 30, a photoelectric switch 31, ......, 31 is installed to detect the entry of the automobile body 23 transferred by the conveyor 24. In the first position immediately after entering the entrance 28, the side doors 22, . Left-hand and right-hand door opening devices A and A, which will be described later, are respectively arranged to fully open the door 22.

In front of the first position, the second position in the center of the painting room 30
Left- and right-handed painting robots B and B, respectively, are placed at these positions to paint the automobile body 23 with the side doors 22, ..., 22 open, and a painting room is installed in front of the second position. 30, just before exit 29
In the position, the side door 22, which is fully open, is shown.
..., door opening device C for left and right hand to close 22,
C are arranged respectively.

Next, the configuration of the door opening device A installed in the painting line having the configuration roughly as described above is changed to the fourth configuration.
This will be explained with reference to FIGS.

Details of the door opening device A are shown in FIG. 4.

The door opening device A shown in FIG. It has a pedestal 32 fixed in a direction forming an angle θ of degrees, and the pedestal 32 has two wires, as shown in FIG.
LM rails 32a, 32a are provided.

A bogie 33 guided by LM guides 32b, 32b is mounted on the LM rails 32a, 32a, and the bogie 33 is moved between an origin 35 and an end point 36 in FIG. 4 by a bogie movement cylinder 34. I am made to do so.

At the origin 35 and end point 36 of the truck 33, limit switch operating pieces 37 and 38 attached to the front and rear surfaces of the truck 33 actuate the origin position detection limit switch 39 and the end point detection limit switch 40, respectively. There is.

At a position moved, for example, 500 mm from the origin 35, a limit switch (not shown) for detecting the arm rotation force switching position is attached to the pedestal 32 side, and a limit switch operating piece (not shown) provided on the side of the truck 33. ).

As shown in FIG. 5, a swing base 43 is attached to the upper surface of the truck 33.
A post 44 is provided vertically. A rotating tube 46 is connected to the post 44 via a rotating bearing 45.
and a rotating arm 47 are attached, and the rotating arm 47 is shown in FIG.
The arm swing cylinder 48 shown in FIG. 1 swings between the origin of swing and the swing end.

At the origin and end of the swing of the swing arm 47, as shown in FIG. The limit switches 53 are actuated to detect the origin and the swing end of the swing arm 47.

On the upper surface of the rotating arm 47, there is a
As shown in the cross-sectional view taken along the line -' in the figure, the slide engages with the engagement position 22a (see FIG. 4) on the inner lower side of the side door 22 of the automobile body 23 in the half-open state to fully open the side door 22. formula claw 54
is attached to its tip, and the claw 54 is
The claw swinging rotary actuator 55 switches between horizontal and upward directions. When the claw 54 is moved horizontally or upwardly, a cam 56 attached to the rotary actuator 55 for swinging the claw operates a limit switch 57 for detecting the horizontal direction of the claw and a limit switch 58 for detecting the upward direction of the claw.

In addition, the LM rails 32a, 32a of the pedestal 32
and the LM guides 32b, 32b, the limit switch 39 for detecting the origin position, the limit switch 40 for detecting the end position, the cylinder 34 for moving the cart, etc.
As shown in FIG. 4, it is surrounded by bellows 59, 60 to prevent paint from adhering to these parts.

Also, a cylinder 48 for arm rotation of the rotation base 43 and a limit switch 5 for detecting the arm origin position are provided.
2. Limit switch 53 for arm rotation end detection;
Covers 61 and 62 are attached to protect the rotary actuator 55 for swinging the claw, the limit switch 57 for detecting the horizontal direction of the claw, the limit switch 58 for detecting the upward direction of the claw, etc. from adhesion of paint.

Next, the operation of the door opening devices A, A will be explained with reference to FIG.

The left-hand and right-hand door opening devices A, A, installed one each on the left and right sides of the automobile body 23, perform the same operation at the same time.

For operations other than opening the side door 22, use the rotating arm 47.
The claw 54 is oriented horizontally on the upstream side of the conveyor 24,
The swing arm 47 is on its origin side, and the truck 33 is waiting at the origin position.

When the door opening devices A and A are automatic, the start timing for opening the side door 22 is set in advance on a counter (not shown) depending on the type of car being manufactured, so that the car body 23 enters and reaches the fixed position. When this happens, the opening operation of the side door 22 starts, but in the case of manual operation, by pressing the start button on the hand control panel (not shown).
The opening operation of the side door 22 will begin.

That is, when the side door 22 comes to the above-mentioned regular position _A1 while maintaining the half-open dimension, first, the above-mentioned claw 5
4 switches upward and enters between the side door 22 and the automobile body 23.

At the same time that the claw 54 is turned upward, the swing arm 47 swings from its origin side to its swing end side, for example, from 45 degrees A, B, C to D.

As a result, the pawl 54 comes into contact with the engagement position 22a on the inner lower side of the side door 22, opening the side door 22 somewhat, and also brings the pawl 54 closer to the hinge side of the side door 22, causing the side door 22 to open. This acts to prevent the claw 54 from coming off.

At the same time as the turning arm 47 turns 45 degrees from A to D, the cart 33 also starts moving from the origin 35 to the end point 36.

At a position near where the truck 33 has moved, for example, 500 mm from the origin 35, the limit switch for detecting the arm turning force switching position is activated, and the turning force of the turning arm 47 is switched to weak.

This means that when the trolley 33 moves 500 mm from the origin position to near the position as described above, it is already
Side door 2 moved from A ₁ to B ₁ , C ₁ , D ₁ , E ₁
2 is fully opened, but at this time, if the claw 54 suddenly pushes the side door 22 away, the side door 22 may swing back and the side door 22 may close. The turning force of arm 47 is temporarily weakened.

As a result, the carriage 33 is further moved, for example, by 300 mm from the above position, so that the rotating arm 47
is reversely rotated toward its origin by the side door 22, and is balanced at the above-mentioned position, the engagement position, and the hinge position _E1 of the side door 22.

As the automobile body 23 advances, the swing arm 47 swings to the swing side again in accordance with the movement of the side door 22, with the pawl 54 engaged with the engagement position 22a on the inner lower part of the side door 22. do.

This is exactly the same operation as when a person places a hand on the side door 22 and slowly pulls it away, that is, the swing arm 47 performs a reciprocating operation.

When the automobile body 23 further advances and the side door 22 leaves the claw 54, the swing arm 47 is on the turning side and the truck 33 is at the end point 36. It is determined that the opening operation of the side door 22 is complete, and the truck 33 returns to the origin 35. At the same time, the claw 54 turns sideways, the swing arm 47 turns backwards toward the origin 49, and when the trolley 33 reaches the origin 35, it opens the door opening device A, depending on the type of vehicle that will enter the door opening device A next. Then, the forward limit position of the truck 33 and the height of the swing arm 47 are determined, and the robot enters a standby state.

As described above, the opening operation of one of the side doors 22 is completed, the side door 22 of the automobile body 23 is fully opened to the position shown by the two-dot chain line in FIG. 3, and the interior of the automobile body 23 is painted.

In this embodiment, by knowing the reciprocating movement of the swing arm 47 near the end point 36 of the truck 33, the opening confirmation detection of the side door 22 is performed on behalf of the door opening device A, A. It does not have a detection mechanism for confirming that the door 22 is open.

Note that in the case of a so-called missed swing, in which the half-opening dimension of the side door 22 is small and the claw 54 of the swing arm 47 does not engage with the side door 22, the cart 33 moves to the terminal point 3.
6, but since the swing arm 47 does not reciprocate near the end point 36, the control panels (not shown) of the door opening devices A, A output an error signal indicating a miss, and the trolley 33 returns to the origin 36. Go back and wait.

The series of operations described above is controlled by a microcomputer (not shown) provided in the door opening devices A, A.

In the above manner, the door opening work of the side doors 22, . . . , 22, which conventionally relied on manual labor, can be automated.

In the above embodiment, the pawl 54 of the swing arm 47 is made of an elastic material, and is located at the engaging position 22a inside the side door 22, . . . , 22.
It is preferable to prevent scratches from occurring.

In the above description, basic embodiments of the present invention have been described, but the present invention is not limited to the above embodiments. For example, the door opening device A,
A can be applied to areas other than painting lines.

As is clear from the detailed description above, the present invention has an object to engage the pawl of the door opening device with the lower part of the inside of the side door, which causes few problems in terms of the finish of the automobile as a product, and to connect the pawl to the side door. Since the door is turned in the opening direction of the door, the door opening operation on the automobile manufacturing line, which conventionally relied on human hands, can be automated, and it is possible to achieve extensive automation and labor saving on the automobile manufacturing line.

In addition, in the present invention, since the pawl is engaged with the engagement position on the inside lower part of the side door when the side door is rotated, the pawl does not come off from the side door, and the side door can be fully opened without fail. Furthermore, if the swing arm is made to perform reciprocating motion near the end of the side door being fully opened, it is possible to prevent the side door from swinging back.

Furthermore, since the pawl that engages the engagement position on the inside lower part of the side door moves at a speed faster than the moving speed of the car, the movement of the pawl does not need to be synchronized with the speed of the conveyor to ensure that the side door is engaged. You can

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of a conventional automobile painting line, Fig. 2 is an explanatory diagram of a painting line equipped with a door opening device according to the present invention, Fig. 3 is an explanatory diagram of the belt conveyor shown in Fig. 2, and Fig. 4 is an explanatory diagram of the belt conveyor shown in Fig. 2. 5 is a front view of one embodiment of the door opening device according to the present invention, FIG. 5 is a sectional view taken along the line -' in FIG. 4, FIG.
The figure is a sectional view taken along the line -' in FIG. 4, and FIG. 8 is an explanatory diagram of the operation of the door opening device shown in FIG. 4. 22... side door (22a... engagement position),
23...Automobile body, 24...Conveyor, 32
... Frame, 33... Cart, 34... Cylinder for moving the cart, 47... Rotating arm, 48... Cylinder for arm turning, 54... Claw.

Claims (1)

[Scope of Claims] 1. On the floor surface on the side of a conveyor line on which automobiles having side doors are loaded and continuously moved, in a direction that makes an angle smaller than 90 degrees with respect to the direction of movement of the automobiles. A movable dolly is provided, and the dolly is rotatably provided on the dolly and is switched from sideways to upwardly by a rotary actuator, and is engaged with the lower part of the inside of the side door of a car that is moving in a half-open state. a swinging arm having a slidable claw at its tip, a swinging actuator for swinging the swinging arm to swing the claw to the engaging position at the bottom of the side door; An automobile door opening device comprising: a truck moving actuator that moves the truck while engaged in the engagement position. 2. The swing arm swings in the side door opening direction after its claw engages with the inner lower part of the side door, and the swing force is weakened near the side door fully open position. The automobile door opening device according to item 1. 3. Claim 1, wherein the swing arm is configured to move its claw at a speed faster than the moving speed of the automobile on the conveyor line.
The automobile door opening device according to item 1 or 2. 4. According to any one of claims 1 to 3, the swing arm reciprocates near the opening end of the side door to prevent the side door from swinging back. car door opening device.